WebotsDevice

robodyno.components.webots.webots_device

Provides base class for all robodyno devices in webots.

Examples:

from robodyno.components import WebotsDevice
from robodyno.interfaces import Webots
webots = Webots()

class MyDevice(WebotsDevice):
    def __init__(self, webots, device_id):
        super().__init__(webots, device_id)
        self.type = Model.MY_DEVICE
        self.register()

    def __del__(self):
        self.deregister()

    def step(self):
        pass

    def parallel_step(self):
        pass

WebotsDevice

Bases: object

Base class for all robodyno devices in webots.

All robodyno devices in webots should inherit from this class.

Attributes:

Name	Type	Description
id	int	Device id.
type	Model	Device type.

__init__(webots, device_id)

Initializes WebotsDevice with webots and device id.

Parameters:

Name	Type	Description	Default
webots	Webots	Webots instance.	required
device_id	int	Device id.	required

Raises:

Type	Description
TypeError	If webots is not an instance of Webots class.

register()

Registers node to webots.

deregister()

Deregisters node from webots.

get_version()

Gets version of the device.

Returns:

Name	Type	Description
dict	dict	Version of the device.

parallel_step()

Parallel step function.

This function is called in parallel with the webots simulation step.

step()

Step function.

This function is called after the webots simulation step.